Patent attributes
A torque control apparatus includes a torque command output unit including a first low pass filter configured to cut off a torque command value by a first frequency, and a switching unit configured to switch, when a first torque value detected by a first torque sensor satisfies a predetermined condition, a second torque value detected by a second torque sensor to the torque command output unit. The switching unit includes a second low pass filter configured to cut off the second torque value by a second frequency which is higher than the first frequency and output the obtained value to the torque command output unit, uses the second low pass filter for a predetermined period of time after the switching, and outputs the second torque value to the torque command output unit without using the second low pass filter after the predetermined period of time has passed.
